Robust rigid registration algorithm based on correntropy and bi-Directional distance

doi:10.1109/ACCESS.2020.2969360

	Robust rigid registration algorithm based on correntropy and bi-Directional distance
	Teng Wan 1; Shaoyi Du 1; Wenting Cui 1; Yang Yang 1; Ce Li2
	2020-01
发表期刊	IEEE Access
ISSN	2169-3536
卷号	8 期号:8 页码:22225 - 22234
摘要	Point set registration is a key method in computer vision and pattern recognition. In this paper, the correntropy and bi-directional distance are introduced into registration framework and a new robust registration model for RGB-D data is proposed. Firstly, as registering point sets with smooth structure, such as surface or plane, is easy failed, the color and position information is fused to establish more precise correspondence between two RGB-D data sets. Secondly, to reduce the influence of noises and eliminate outliers, the registration model based on the maximum correntropy criterion is established. Thirdly, the bi-directional distance measurement is introduced into the registration framework to avoid the model being trapped into local extremum. In addition, to solve this new registration problem, a new iterative closest point (ICP) algorithm is proposed, which converges to the local optimal solution by iterations. In the experiments, the proposed algorithm achieves more robustness and precise registration results than other algorithms.
关键词	Maximum correntropy criterion point set registration RGB-D data iterative closest point bi-directional distance
DOI	10.1109/ACCESS.2020.2969360
URL	查看原文
收录类别	SCI ; EI
语种	英语
WOS研究方向	Computer Science ; Engineering ; Telecommunications
WOS类目	Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS记录号	WOS:000525393900036
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
EI分类号	20200908225429
引用统计	被引频次：5[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/109964
专题	电气工程与信息工程学院新能源学院
通讯作者	Shaoyi Du
作者单位	1.Xi'an Jiaotong University 2.Lanzhou University of Technology
推荐引用方式 GB/T 7714	Teng Wan,Shaoyi Du,Wenting Cui,et al. Robust rigid registration algorithm based on correntropy and bi-Directional distance[J]. IEEE Access,2020,8(8):22225 - 22234.
APA	Teng Wan,Shaoyi Du,Wenting Cui,Yang Yang,&Ce Li.(2020).Robust rigid registration algorithm based on correntropy and bi-Directional distance.IEEE Access,8(8),22225 - 22234.
MLA	Teng Wan,et al."Robust rigid registration algorithm based on correntropy and bi-Directional distance".IEEE Access 8.8(2020):22225 - 22234.